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<a href="#nested-classes">类</a> &#124;
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<div class="title">pcl::PPFHashMapSearch类 参考</div>  </div>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html">HashKeyStruct</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Data structure to hold the information for the key in the feature hash map of the <a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a> class  <a href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html#details">更多...</a><br /></td></tr>
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Public 类型</h2></td></tr>
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typedef boost::unordered_multimap&lt; <a class="el" href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html">HashKeyStruct</a>, std::pair&lt; size_t, size_t &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>FeatureHashMapType</b></td></tr>
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typedef boost::shared_ptr&lt; FeatureHashMapType &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>FeatureHashMapTypePtr</b></td></tr>
<tr class="separator:af4d2fb42385de660850e5f760d20bf31"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a70567edaa6f463fc64f8a51688693839"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#a70567edaa6f463fc64f8a51688693839">PPFHashMapSearch</a> (float angle_discretization_step=12.0f/180.0f *static_cast&lt; float &gt;(M_PI), float distance_discretization_step=0.01f)</td></tr>
<tr class="memdesc:a70567edaa6f463fc64f8a51688693839"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the <a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a> class which sets the two step parameters for the enclosed data structure  <a href="classpcl_1_1_p_p_f_hash_map_search.html#a70567edaa6f463fc64f8a51688693839">更多...</a><br /></td></tr>
<tr class="separator:a70567edaa6f463fc64f8a51688693839"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab083faec61663cfd201deba063c976ff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#ab083faec61663cfd201deba063c976ff">setInputFeatureCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_p_p_f_signature.html">PPFSignature</a> &gt;::ConstPtr feature_cloud)</td></tr>
<tr class="memdesc:ab083faec61663cfd201deba063c976ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Method that sets the feature cloud to be inserted in the hash map  <a href="classpcl_1_1_p_p_f_hash_map_search.html#ab083faec61663cfd201deba063c976ff">更多...</a><br /></td></tr>
<tr class="separator:ab083faec61663cfd201deba063c976ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0e59279f59efee7d124c3bc652ed45b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#ad0e59279f59efee7d124c3bc652ed45b">nearestNeighborSearch</a> (float &amp;f1, float &amp;f2, float &amp;f3, float &amp;f4, std::vector&lt; std::pair&lt; size_t, size_t &gt; &gt; &amp;indices)</td></tr>
<tr class="memdesc:ad0e59279f59efee7d124c3bc652ed45b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function for finding the nearest neighbors for the given feature inside the discretized hash map  <a href="classpcl_1_1_p_p_f_hash_map_search.html#ad0e59279f59efee7d124c3bc652ed45b">更多...</a><br /></td></tr>
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Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#a52abba6107018e140caa04f1383c943d">makeShared</a> ()</td></tr>
<tr class="memdesc:a52abba6107018e140caa04f1383c943d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience method for returning a copy of the class instance as a boost::shared_ptr <br /></td></tr>
<tr class="separator:a52abba6107018e140caa04f1383c943d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a565cf2da6499391da77138ab631e29fd"><td class="memItemLeft" align="right" valign="top"><a id="a565cf2da6499391da77138ab631e29fd"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#a565cf2da6499391da77138ab631e29fd">getAngleDiscretizationStep</a> ()</td></tr>
<tr class="memdesc:a565cf2da6499391da77138ab631e29fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values) <br /></td></tr>
<tr class="separator:a565cf2da6499391da77138ab631e29fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac02bd46291eeefb473d6984818a77473"><td class="memItemLeft" align="right" valign="top"><a id="ac02bd46291eeefb473d6984818a77473"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#ac02bd46291eeefb473d6984818a77473">getDistanceDiscretizationStep</a> ()</td></tr>
<tr class="memdesc:ac02bd46291eeefb473d6984818a77473"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values) <br /></td></tr>
<tr class="separator:ac02bd46291eeefb473d6984818a77473"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a636d7b16437fc528bb9b46bb8342e50f"><td class="memItemLeft" align="right" valign="top"><a id="a636d7b16437fc528bb9b46bb8342e50f"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html#a636d7b16437fc528bb9b46bb8342e50f">getModelDiameter</a> ()</td></tr>
<tr class="memdesc:a636d7b16437fc528bb9b46bb8342e50f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the maximum distance found between any feature pair in the given input feature cloud <br /></td></tr>
<tr class="separator:a636d7b16437fc528bb9b46bb8342e50f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public 属性</h2></td></tr>
<tr class="memitem:a83924df810ee22bdbccedd04186c53cd"><td class="memItemLeft" align="right" valign="top"><a id="a83924df810ee22bdbccedd04186c53cd"></a>
std::vector&lt; std::vector&lt; float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>alpha_m_</b></td></tr>
<tr class="separator:a83924df810ee22bdbccedd04186c53cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Private 属性</h2></td></tr>
<tr class="memitem:a535dafa12f10f90c751dd36a8af02f74"><td class="memItemLeft" align="right" valign="top"><a id="a535dafa12f10f90c751dd36a8af02f74"></a>
FeatureHashMapTypePtr&#160;</td><td class="memItemRight" valign="bottom"><b>feature_hash_map_</b></td></tr>
<tr class="separator:a535dafa12f10f90c751dd36a8af02f74"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeec7a3973a67c13de6c5047b185e0e37"><td class="memItemLeft" align="right" valign="top"><a id="aeec7a3973a67c13de6c5047b185e0e37"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>internals_initialized_</b></td></tr>
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<tr class="memitem:a5fa05448aeef0ba6ef184cf0c3710950"><td class="memItemLeft" align="right" valign="top"><a id="a5fa05448aeef0ba6ef184cf0c3710950"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>angle_discretization_step_</b></td></tr>
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<tr class="memitem:a04b75daf9b28737442fa273792f7feb7"><td class="memItemLeft" align="right" valign="top"><a id="a04b75daf9b28737442fa273792f7feb7"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>distance_discretization_step_</b></td></tr>
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<tr class="memitem:a36a0bfcb2cd4751b25f177ab4c20d12d"><td class="memItemLeft" align="right" valign="top"><a id="a36a0bfcb2cd4751b25f177ab4c20d12d"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>max_dist_</b></td></tr>
<tr class="separator:a36a0bfcb2cd4751b25f177ab4c20d12d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">构造及析构函数说明</h2>
<a id="a70567edaa6f463fc64f8a51688693839"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a70567edaa6f463fc64f8a51688693839">&#9670;&nbsp;</a></span>PPFHashMapSearch()</h2>

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          <td class="memname">pcl::PPFHashMapSearch::PPFHashMapSearch </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angle_discretization_step</em> = <code>12.0f&#160;/&#160;180.0f&#160;*&#160;static_cast&lt;float&gt;&#160;(M_PI)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>distance_discretization_step</em> = <code>0.01f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<p>Constructor for the <a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a> class which sets the two step parameters for the enclosed data structure </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">angle_discretization_step</td><td>the step value between each bin of the hash map for the angular values </td></tr>
    <tr><td class="paramname">distance_discretization_step</td><td>the step value between each bin of the hash map for the distance values </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        : alpha_m_ ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        , feature_hash_map_ (<span class="keyword">new</span> FeatureHashMapType)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        , internals_initialized_ (<span class="keyword">false</span>)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        , angle_discretization_step_ (angle_discretization_step)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , distance_discretization_step_ (distance_discretization_step)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        , max_dist_ (-1.0f)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      }</div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="ad0e59279f59efee7d124c3bc652ed45b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad0e59279f59efee7d124c3bc652ed45b">&#9670;&nbsp;</a></span>nearestNeighborSearch()</h2>

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          <td class="memname">void pcl::PPFHashMapSearch::nearestNeighborSearch </td>
          <td>(</td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>f1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>f2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>f3</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>f4</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; std::pair&lt; size_t, size_t &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Function for finding the nearest neighbors for the given feature inside the discretized hash map </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">f1</td><td>The 1st value describing the query <a class="el" href="structpcl_1_1_p_p_f_signature.html" title="A point structure for storing the Point Pair Feature (PPF) values">PPFSignature</a> feature </td></tr>
    <tr><td class="paramname">f2</td><td>The 2nd value describing the query <a class="el" href="structpcl_1_1_p_p_f_signature.html" title="A point structure for storing the Point Pair Feature (PPF) values">PPFSignature</a> feature </td></tr>
    <tr><td class="paramname">f3</td><td>The 3rd value describing the query <a class="el" href="structpcl_1_1_p_p_f_signature.html" title="A point structure for storing the Point Pair Feature (PPF) values">PPFSignature</a> feature </td></tr>
    <tr><td class="paramname">f4</td><td>The 4th value describing the query <a class="el" href="structpcl_1_1_p_p_f_signature.html" title="A point structure for storing the Point Pair Feature (PPF) values">PPFSignature</a> feature </td></tr>
    <tr><td class="paramname">indices</td><td>a vector of pair indices representing the feature pairs that have been found in the bin corresponding to the query feature </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="ab083faec61663cfd201deba063c976ff"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab083faec61663cfd201deba063c976ff">&#9670;&nbsp;</a></span>setInputFeatureCloud()</h2>

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          <td class="memname">void pcl::PPFHashMapSearch::setInputFeatureCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_p_p_f_signature.html">PPFSignature</a> &gt;::ConstPtr&#160;</td>
          <td class="paramname"><em>feature_cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Method that sets the feature cloud to be inserted in the hash map </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">feature_cloud</td><td>a const smart pointer to the <a class="el" href="structpcl_1_1_p_p_f_signature.html" title="A point structure for storing the Point Pair Feature (PPF) values">PPFSignature</a> feature cloud </td></tr>
  </table>
  </dd>
</dl>

</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="ppf__registration_8h_source.html">ppf_registration.h</a></li>
</ul>
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    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
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